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Author |
Akhil Gurram; Onay Urfalioglu; Ibrahim Halfaoui; Fahd Bouzaraa; Antonio Lopez |
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Title |
Monocular Depth Estimation by Learning from Heterogeneous Datasets |
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Conference Article |
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2018 |
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IEEE Intelligent Vehicles Symposium |
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2176 - 2181 |
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Depth estimation provides essential information to perform autonomous driving and driver assistance. Especially, Monocular Depth Estimation is interesting from a practical point of view, since using a single camera is cheaper than many other options and avoids the need for continuous calibration strategies as required by stereo-vision approaches. State-of-the-art methods for Monocular Depth Estimation are based on Convolutional Neural Networks (CNNs). A promising line of work consists of introducing additional semantic information about the traffic scene when training CNNs for depth estimation. In practice, this means that the depth data used for CNN training is complemented with images having pixel-wise semantic labels, which usually are difficult to annotate (eg crowded urban images). Moreover, so far it is common practice to assume that the same raw training data is associated with both types of ground truth, ie, depth and semantic labels. The main contribution of this paper is to show that this hard constraint can be circumvented, ie, that we can train CNNs for depth estimation by leveraging the depth and semantic information coming from heterogeneous datasets. In order to illustrate the benefits of our approach, we combine KITTI depth and Cityscapes semantic segmentation datasets, outperforming state-of-the-art results on Monocular Depth Estimation. |
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IV |
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ADAS; 600.124; 600.116; 600.118 |
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Admin @ si @ GUH2018 |
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3183 |
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Author |
Daniel Hernandez; Lukas Schneider; P. Cebrian; A. Espinosa; David Vazquez; Antonio Lopez; Uwe Franke; Marc Pollefeys; Juan Carlos Moure |
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Title |
Slanted Stixels: A way to represent steep streets |
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Journal Article |
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Year |
2019 |
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International Journal of Computer Vision |
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IJCV |
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127 |
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1643–1658 |
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This work presents and evaluates a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel depth model to account for non-flat roads and slanted objects. Both semantic and depth cues are used jointly to infer the scene representation in a sound global energy minimization formulation. Furthermore, a novel approximation scheme is introduced in order to significantly reduce the computational complexity of the Stixel algorithm, and then achieve real-time computation capabilities. The idea is to first perform an over-segmentation of the image, discarding the unlikely Stixel cuts, and apply the algorithm only on the remaining Stixel cuts. This work presents a novel over-segmentation strategy based on a fully convolutional network, which outperforms an approach based on using local extrema of the disparity map. We evaluate the proposed methods in terms of semantic and geometric accuracy as well as run-time on four publicly available benchmark datasets. Our approach maintains accuracy on flat road scene datasets while improving substantially on a novel non-flat road dataset. |
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ADAS; 600.118; 600.124 |
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Admin @ si @ HSC2019 |
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3304 |
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Author |
Idoia Ruiz; Lorenzo Porzi; Samuel Rota Bulo; Peter Kontschieder; Joan Serrat |
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Title |
Weakly Supervised Multi-Object Tracking and Segmentation |
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Conference Article |
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2021 |
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IEEE Winter Conference on Applications of Computer Vision Workshops |
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125-133 |
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We introduce the problem of weakly supervised MultiObject Tracking and Segmentation, i.e. joint weakly supervised instance segmentation and multi-object tracking, in which we do not provide any kind of mask annotation.
To address it, we design a novel synergistic training strategy by taking advantage of multi-task learning, i.e. classification and tracking tasks guide the training of the unsupervised instance segmentation. For that purpose, we extract weak foreground localization information, provided by
Grad-CAM heatmaps, to generate a partial ground truth to learn from. Additionally, RGB image level information is employed to refine the mask prediction at the edges of the
objects. We evaluate our method on KITTI MOTS, the most representative benchmark for this task, reducing the performance gap on the MOTSP metric between the fully supervised and weakly supervised approach to just 12% and 12.7 % for cars and pedestrians, respectively. |
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Virtual; January 2021 |
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WACVW |
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ADAS; 600.118; 600.124 |
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Admin @ si @ RPR2021 |
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3548 |
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Author |
Idoia Ruiz; Joan Serrat |
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Title |
Rank-based ordinal classification |
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Conference Article |
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Year |
2020 |
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25th International Conference on Pattern Recognition |
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8069-8076 |
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Differently from the regular classification task, in ordinal classification there is an order in the classes. As a consequence not all classification errors matter the same: a predicted class close to the groundtruth one is better than predicting a farther away class. To account for this, most previous works employ loss functions based on the absolute difference between the predicted and groundtruth class labels. We argue that there are many cases in ordinal classification where label values are arbitrary (for instance 1. . . C, being C the number of classes) and thus such loss functions may not be the best choice. We instead propose a network architecture that produces not a single class prediction but an ordered vector, or ranking, of all the possible classes from most to least likely. This is thanks to a loss function that compares groundtruth and predicted rankings of these class labels, not the labels themselves. Another advantage of this new formulation is that we can enforce consistency in the predictions, namely, predicted rankings come from some unimodal vector of scores with mode at the groundtruth class. We compare with the state of the art ordinal classification methods, showing
that ours attains equal or better performance, as measured by common ordinal classification metrics, on three benchmark datasets. Furthermore, it is also suitable for a new task on image aesthetics assessment, i.e. most voted score prediction. Finally, we also apply it to building damage assessment from satellite images, providing an analysis of its performance depending on the degree of imbalance of the dataset. |
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Virtual; January 2021 |
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ICPR |
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Notes |
ADAS; 600.118; 600.124 |
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no |
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Call Number |
Admin @ si @ RuS2020 |
Serial |
3549 |
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Author |
Katerine Diaz; Jesus Martinez del Rincon; Aura Hernandez-Sabate |
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Title |
Decremental generalized discriminative common vectors applied to images classification |
Type |
Journal Article |
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Year |
2017 |
Publication |
Knowledge-Based Systems |
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KBS |
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Volume |
131 |
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46-57 |
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Decremental learning; Generalized Discriminative Common Vectors; Feature extraction; Linear subspace methods; Classification |
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In this paper, a novel decremental subspace-based learning method called Decremental Generalized Discriminative Common Vectors method (DGDCV) is presented. The method makes use of the concept of decremental learning, which we introduce in the field of supervised feature extraction and classification. By efficiently removing unnecessary data and/or classes for a knowledge base, our methodology is able to update the model without recalculating the full projection or accessing to the previously processed training data, while retaining the previously acquired knowledge. The proposed method has been validated in 6 standard face recognition datasets, showing a considerable computational gain without compromising the accuracy of the model. |
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ADAS; 600.118; 600.121 |
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Admin @ si @ DMH2017a |
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3003 |
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Author |
Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan Carlos Moure |
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Title |
GPU-accelerated real-time stixel computation |
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Conference Article |
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Year |
2017 |
Publication |
IEEE Winter Conference on Applications of Computer Vision |
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1054-1062 |
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Autonomous Driving; GPU; Stixel |
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The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multi-stixel estimation pipeline on an embedded, energyefficient, GPU-accelerated device. This work presents a full GPU-accelerated implementation of stixel estimation that produces reliable results at 26 frames per second (real-time) on the Tegra X1 for disparity images of 1024×440 pixels and stixel widths of 5 pixels, and achieves more than 400 frames per second on a high-end Titan X GPU card. |
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Santa Rosa; CA; USA; March 2017 |
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WACV |
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ADAS; 600.118 |
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ADAS @ adas @ HEV2017b |
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2812 |
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Author |
Daniel Hernandez; Lukas Schneider; Antonio Espinosa; David Vazquez; Antonio Lopez; Uwe Franke; Marc Pollefeys; Juan C. Moure |
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Title |
Slanted Stixels: Representing San Francisco's Steepest Streets} |
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Conference Article |
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2017 |
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28th British Machine Vision Conference |
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In this work we present a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel depth model to account for non-flat roads and slanted objects. Both semantic and depth cues are used jointly to infer the scene representation in a sound global energy minimization formulation. Furthermore, a novel approximation scheme is introduced that uses an extremely efficient over-segmentation. In doing so, the computational complexity of the Stixel inference algorithm is reduced significantly, achieving real-time computation capabilities with only a slight drop in accuracy. We evaluate the proposed approach in terms of semantic and geometric accuracy as well as run-time on four publicly available benchmark datasets. Our approach maintains accuracy on flat road scene datasets while improving substantially on a novel non-flat road dataset. |
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London; uk; September 2017 |
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BMVC |
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ADAS; 600.118 |
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ADAS @ adas @ HSE2017a |
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2945 |
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Author |
Daniel Hernandez; Antonio Espinosa; David Vazquez; Antonio Lopez; Juan Carlos Moure |
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Title |
Embedded Real-time Stixel Computation |
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2017 |
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GPU Technology Conference |
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GPU; CUDA; Stixels; Autonomous Driving |
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Silicon Valley; USA; May 2017 |
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GTC |
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ADAS; 600.118 |
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ADAS @ adas @ HEV2017a |
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2879 |
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Author |
David Geronimo; David Vazquez; Arturo de la Escalera |
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Title |
Vision-Based Advanced Driver Assistance Systems |
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2017 |
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Computer Vision in Vehicle Technology: Land, Sea, and Air |
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ADAS; Autonomous Driving |
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ADAS; 600.118 |
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ADAS @ adas @ GVE2017 |
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2881 |
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Victor Vaquero; German Ros; Francesc Moreno-Noguer; Antonio Lopez; Alberto Sanfeliu |
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Joint coarse-and-fine reasoning for deep optical flow |
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2017 |
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24th International Conference on Image Processing |
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2558-2562 |
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We propose a novel representation for dense pixel-wise estimation tasks using CNNs that boosts accuracy and reduces training time, by explicitly exploiting joint coarse-and-fine reasoning. The coarse reasoning is performed over a discrete classification space to obtain a general rough solution, while the fine details of the solution are obtained over a continuous regression space. In our approach both components are jointly estimated, which proved to be beneficial for improving estimation accuracy. Additionally, we propose a new network architecture, which combines coarse and fine components by treating the fine estimation as a refinement built on top of the coarse solution, and therefore adding details to the general prediction. We apply our approach to the challenging problem of optical flow estimation and empirically validate it against state-of-the-art CNN-based solutions trained from scratch and tested on large optical flow datasets. |
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Beijing; China; September 2017 |
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ICIP |
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ADAS; 600.118 |
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Admin @ si @ VRM2017 |
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2898 |
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Antonio Lopez; Atsushi Imiya; Tomas Pajdla; Jose Manuel Alvarez |
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Computer Vision in Vehicle Technology: Land, Sea & Air |
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2017 |
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161-163 |
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Summary This chapter examines different vision-based commercial solutions for real-live problems related to vehicles. It is worth mentioning the recent astonishing performance of deep convolutional neural networks (DCNNs) in difficult visual tasks such as image classification, object recognition/localization/detection, and semantic segmentation. In fact,
different DCNN architectures are already being explored for low-level tasks such as optical flow and disparity computation, and higher level ones such as place recognition. |
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John Wiley & Sons, Ltd |
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978-1-118-86807-2 |
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ADAS; 600.118 |
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Admin @ si @ LIP2017a |
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2937 |
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Antonio Lopez; Gabriel Villalonga; Laura Sellart; German Ros; David Vazquez; Jiaolong Xu; Javier Marin; Azadeh S. Mozafari |
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Training my car to see using virtual worlds |
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2017 |
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Image and Vision Computing |
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IMAVIS |
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38 |
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102-118 |
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Computer vision technologies are at the core of different advanced driver assistance systems (ADAS) and will play a key role in oncoming autonomous vehicles too. One of the main challenges for such technologies is to perceive the driving environment, i.e. to detect and track relevant driving information in a reliable manner (e.g. pedestrians in the vehicle route, free space to drive through). Nowadays it is clear that machine learning techniques are essential for developing such a visual perception for driving. In particular, the standard working pipeline consists of collecting data (i.e. on-board images), manually annotating the data (e.g. drawing bounding boxes around pedestrians), learning a discriminative data representation taking advantage of such annotations (e.g. a deformable part-based model, a deep convolutional neural network), and then assessing the reliability of such representation with the acquired data. In the last two decades most of the research efforts focused on representation learning (first, designing descriptors and learning classifiers; later doing it end-to-end). Hence, collecting data and, especially, annotating it, is essential for learning good representations. While this has been the case from the very beginning, only after the disruptive appearance of deep convolutional neural networks that it became a serious issue due to their data hungry nature. In this context, the problem is that manual data annotation is a tiresome work prone to errors. Accordingly, in the late 00’s we initiated a research line consisting of training visual models using photo-realistic computer graphics, especially focusing on assisted and autonomous driving. In this paper, we summarize such a work and show how it has become a new tendency with increasing acceptance. |
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ADAS; 600.118 |
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Admin @ si @ LVS2017 |
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2985 |
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Katerine Diaz; Konstantia Georgouli; Anastasios Koidis; Jesus Martinez del Rincon |
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Incremental model learning for spectroscopy-based food analysis |
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2017 |
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Chemometrics and Intelligent Laboratory Systems |
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CILS |
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167 |
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123-131 |
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Incremental model learning; IGDCV technique; Subspace based learning; IdentificationVegetable oils; FT-IR spectroscopy |
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In this paper we propose the use of incremental learning for creating and improving multivariate analysis models in the field of chemometrics of spectral data. As main advantages, our proposed incremental subspace-based learning allows creating models faster, progressively improving previously created models and sharing them between laboratories and institutions without requiring transferring or disclosing individual spectra samples. In particular, our approach allows to improve the generalization and adaptability of previously generated models with a few new spectral samples to be applicable to real-world situations. The potential of our approach is demonstrated using vegetable oil type identification based on spectroscopic data as case study. Results show how incremental models maintain the accuracy of batch learning methodologies while reducing their computational cost and handicaps. |
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ADAS; 600.118 |
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Call Number |
Admin @ si @ DGK2017 |
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3002 |
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Author |
Cristhian Aguilera |
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Title |
Local feature description in cross-spectral imagery |
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Book Whole |
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Year |
2017 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Over the last few years, the number of consumer computer vision applications has increased dramatically. Today, computer vision solutions can be found in video game consoles, smartphone applications, driving assistance – just to name a few. Ideally, we require the performance of those applications, particularly those that are safety critical to remain constant under any external environment factors, such as changes in illumination or weather conditions. However, this is not always possible or very difficult to obtain by only using visible imagery, due to the inherent limitations of the images from that spectral band. For that reason, the use of images from different or multiple spectral bands is becoming more appealing.
The aforementioned possible advantages of using images from multiples spectral bands on various vision applications make multi-spectral image processing a relevant topic for research and development. Like in visible image processing, multi-spectral image processing needs tools and algorithms to handle information from various spectral bands. Furthermore, traditional tools such as local feature detection, which is the basis of many vision tasks such as visual odometry, image registration, or structure from motion, must be adjusted or reformulated to operate under new conditions. Traditional feature detection, description, and matching methods tend to underperform in multi-spectral settings, in comparison to mono-spectral settings, due to the natural differences between each spectral band.
The work in this thesis is focused on the local feature description problem when cross-spectral images are considered. In this context, this dissertation has three main contributions. Firstly, the work starts by proposing the usage of a combination of frequency and spatial information, in a multi-scale scheme, as feature description. Evaluations of this proposal, based on classical hand-made feature descriptors, and comparisons with state of the art cross-spectral approaches help to find and understand limitations of such strategy. Secondly, different convolutional neural network (CNN) based architectures are evaluated when used to describe cross-spectral image patches. Results showed that CNN-based methods, designed to work with visible monocular images, could be successfully applied to the description of images from two different spectral bands, with just minor modifications. In this framework, a novel CNN-based network model, specifically intended to describe image patches from two different spectral bands, is proposed. This network, referred to as Q-Net, outperforms state of the art in the cross-spectral domain, including both previous hand-made solutions as well as L2 CNN-based architectures. The third contribution of this dissertation is in the cross-spectral feature description application domain. The multispectral odometry problem is tackled showing a real application of cross-spectral descriptors
In addition to the three main contributions mentioned above, in this dissertation, two different multi-spectral datasets are generated and shared with the community to be used as benchmarks for further studies. |
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Address |
October 2017 |
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Thesis |
Ph.D. thesis |
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Publisher |
Ediciones Graficas Rey |
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Editor |
Angel Sappa |
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978-84-945373-6-3 |
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Notes |
ADAS; 600.118 |
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no |
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Call Number |
Admin @ si @ Agu2017 |
Serial |
3020 |
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Author |
Jose M. Armingol; Jorge Alfonso; Nourdine Aliane; Miguel Clavijo; Sergio Campos-Cordobes; Arturo de la Escalera; Javier del Ser; Javier Fernandez; Fernando Garcia; Felipe Jimenez; Antonio Lopez; Mario Mata |
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Title |
Environmental Perception for Intelligent Vehicles |
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Book Chapter |
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Year |
2018 |
Publication |
Intelligent Vehicles. Enabling Technologies and Future Developments |
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Pages |
23–101 |
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Keywords |
Computer vision; laser techniques; data fusion; advanced driver assistance systems; traffic monitoring systems; intelligent vehicles |
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Abstract |
Environmental perception represents, because of its complexity, a challenge for Intelligent Transport Systems due to the great variety of situations and different elements that can happen in road environments and that must be faced by these systems. In connection with this, so far there are a variety of solutions as regards sensors and methods, so the results of precision, complexity, cost, or computational load obtained by these works are different. In this chapter some systems based on computer vision and laser techniques are presented. Fusion methods are also introduced in order to provide advanced and reliable perception systems. |
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ADAS; 600.118 |
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no |
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Call Number |
Admin @ si @AAA2018 |
Serial |
3046 |
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